C++ (Cpp) aa_rx_cl_allow_set Examples

Example #1

File: baxter-collision.c Project: stephendb/amino

int main(int argc, char *argv[])
{
    (void)argc; (void)argv;

    // Enable collision checking
    aa_rx_cl_init();

    // Initialize scene graph
    struct aa_rx_sg *scenegraph = aa_rx_dl_sg__scenegraph(NULL);
    aa_rx_sg_init(scenegraph);
    aa_rx_sg_cl_init(scenegraph);


    // setup window
    struct aa_rx_win * win = baxter_demo_setup_window(scenegraph);
    struct aa_gl_globals *globals = aa_rx_win_gl_globals(win);
    aa_gl_globals_set_show_visual(globals, 0);
    aa_gl_globals_set_show_collision(globals, 1);

    struct display_cx cx = {0};
    cx.win = win;
    cx.scenegraph = scenegraph;
    cx.i_q = aa_rx_sg_config_id(scenegraph, "left_s0");
    cx.cl = aa_rx_cl_create( scenegraph );

    {
        aa_rx_frame_id n = aa_rx_sg_frame_count(scenegraph);
        aa_rx_frame_id m = aa_rx_sg_config_count(scenegraph);
        double q[m];
        AA_MEM_ZERO(q,m);
        double TF_rel[7*n];
        double TF_abs[7*n];
        aa_rx_sg_tf(scenegraph, m, q,
                    n,
                    TF_rel, 7,
                    TF_abs, 7 );

        struct aa_rx_cl_set *allowed = aa_rx_cl_set_create( scenegraph );
        int col = aa_rx_cl_check( cx.cl, n, TF_abs, 7, allowed );
        aa_rx_cl_allow_set( cx.cl, allowed );
        aa_rx_cl_set_destroy( allowed );
    }

    aa_rx_win_set_display( win, display, &cx );
    aa_rx_win_display_loop(win);


    // Cleanup
    aa_rx_cl_destroy( cx.cl );
    aa_rx_sg_destroy(scenegraph);
    aa_rx_win_destroy(win);
    SDL_Quit();

    return 0;
}

Example #2

File: scene_state_validity_checker.cpp Project: golems/amino

void sgStateValidityChecker::allow( )
{
    aa_rx_cl_allow_set( cl, getTypedStateSpace()->allowed );
}